ACS CANopen Manual
Version 20110928
20 of 44
AC C E L E N S ( AC S ) C AN o p e n
We used a PEAK™ CAN master for this
illustration. The PCAN
®
-USB adapter enables
simple connection to CAN networks.
The PCAN
®
-USB’s compact plastic casing makes
it suitable for mobile applications. It works as a
master on the CAN bus connection via D-Sub, 9-
pin and in accordance with CiA 102 standards.
[To learn more about Peak CAN click
here
]
•
Object 3001h is to read the baud rate
value from the inclinometer.
•
Transmit Message
•
ID: 601- Message to NN1
•
Length: 8bit word
•
Data 0: Read (40) / Write (22)
•
Data 1 & 2 : Object in Big Endian
( 3001s is 0130 in
Big Endian
format)
•
Data 3: Sub-Index (NA)
•
Data 4-7: Data to be written (NA
in read command)
•
The Received message 581h reads out
the data
Received Message from the Device
So, SDOs can be used to explicitly read or write
data in ACS CANopen inclinometers. All the
relevant objects that can be configured are
described in Appendix A.
In the above example, 701h is the boot up
message received. Then once we transmit the
SDO command as shown above, we receive a
reply. The received message, 581h, consists of the
domain downloaded. In this case it is the baud rate
as indicated in the above figure.
